JP2003192108A - Automatic warehouse - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic warehouse to travel a transfer and place device such as a mobile carriage and a stacker crane by engaging a driving pulley with a timing belt and capable of preventing removal from the driving pulley and tooth flying of the timing belt due to jumping of the timing belt. <P>SOLUTION: The driving pulley 15 is covered with a guide body 20 from above, and presser rollers 19 are arranged on both sides sandwiching the driving pulley 15 between them. It is possible to prevent removal and tooth flying of the timing belt 12 for travelling as floating of the timing belt 12 for travelling is avoided by the guide body 20. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic warehouse in which a transfer device is run by using a rope such as a timing belt.

[0002]

2. Description of the Related Art There are various types of automated warehouses, but in view of the type of transfer device for loading and unloading loads to and from shelves, in general, loading and unloading by a single stacker crane is required. The stacker method and the trolley method in which a self-propelled trolley is arranged horizontally for each shelf are often used.

As a method of running such a self-propelled carriage or stacker crane, a timing belt is stretched on a rail and both ends thereof are fixed, and a drive pulley (sprocket) provided on a transfer device is engaged with the timing belt to drive the drive pulley. Is being driven to rotate (see, for example, Japanese Patent Publication No. 2906308).

Traveling using the timing belt in this way has the advantage that slip can be prevented and travel control can be performed more accurately than in the case of driving by driving the wheels.

[0005]

In the traveling method using the timing belt, it is necessary to hold the timing belt and the drive pulley so that the weave does not come off.

For this reason, as described in the above publication, the timing belt is arranged with its teeth facing downward, and a pair of belts are provided on both sides of the drive pulley and below the drive pulley. By providing the idle pulley, the timing belt is held so as to be wound around the drive pulley in an inverted U-shape when viewed from the side.

However, when both ends of the timing belt are fixed to rails or the like, it is actually impossible to completely remove the slack of the timing belt, and a slight slack cannot be avoided.

In this case, the higher the traveling speed of the transfer device and the longer the length of the timing belt, the more the timing belt dances (jumping phenomenon or floating phenomenon) (in particular, the driving pulley is pinched). Therefore, there is concern that the transfer belt may become loose in the front side in the traveling direction, the timing belt may come off the drive pulley, or tooth jumping may cause misalignment, making the transfer device inoperable or uncontrollable. It

In an automatic warehouse provided with a self-propelled carriage provided for each shelf, compared to a stacker crane, the self-propelled carriage is advantageous in that high traveling efficiency can be ensured by running the self-propelled carriage at a higher speed. If the traveling speed of the self-propelled carriage is suppressed in order to prevent disengagement with the drive pulley, the advantage of the self-propelled carriage cannot be fully exerted.

Therefore, especially in a cart type automatic warehouse, it is necessary to maintain the engagement between the timing belt and the drive.
It can be said that there is a strong demand.

The present invention aims to improve the present situation.

[0012]

According to a first aspect of the invention, an automatic warehouse comprises a hangar for storing a load, a horizontally movable transfer device for loading and unloading the load into and from the hangar, and a drive for the transfer device. For this purpose, a rope such as a timing belt is arranged so as to extend long along the traveling direction of the transfer device, and a drive pulley around which the rope is wound around the transfer device, and a rope. Is provided with idle pulleys arranged on both sides of the drive pulley so as to have a U-shape when viewed from the side at the position of the drive pulley, and withdrawal prevention means for holding the cord so as not to come off the drive pulley. .

On the other hand, according to the second aspect of the invention, a hangar for storing a load, a transfer device for horizontally moving the load into and out of the hangar, and a transfer device for driving the transfer device. A driving pulley with which the rope is engaged with the transfer device, and a slack absorbing member that elastically biases the rope in at least one direction. And means.

The slack absorbing means includes spring means for urging the cord so as to tension the cord so that the cord is not loosened.
The cord is provided with stopper means for holding the cord so as not to move much on the side opposite to the pulling direction by the spring means.

[0015]

According to the first aspect of the invention, even if the cord such as the timing belt is loosened,
Due to the existence of the detachment prevention means, the jumping phenomenon does not occur in the rope even when the transfer device travels at high speed, and the rope is held in a state wound around the drive pulley.

Therefore, the transfer device can be moved at high speed without causing the phenomenon of separation between the rope and the drive pulley, and thus the loading / unloading efficiency can be improved.

On the other hand, according to the second aspect of the invention, since the slack of the rope can be removed, in this case as well, the rope is held in the state of being engaged with the drive pulley even when the transfer device is run at high speed. It

By the way, as a method for removing the slack of the cord, a method of pulling one or both ends of the cord with a spring can be considered. However, if the cord is simply pulled by a spring, when the tension is applied to the cord by the rotation of the drive pulley, the spring is greatly deformed until the elastic restoring force of the spring and the tension are balanced, and the cord is There is a possibility that the movement position may not be accurately controlled due to the phenomenon that a large shift in the longitudinal direction occurs.

On the other hand, according to the second aspect of the present invention, even if tension is applied to the rope by the rotation of the drive pulley, the rope does not move greatly, so that the control of the traveling position is accurate. Can be improved. In particular,
It is preferable to attach both ends of the cord to the slack absorbing means, because the slack can be removed when the transfer device is moved forward and backward.

[0020]

Embodiments of the present invention will now be described with reference to the drawings.

(1). First Embodiment (FIGS. 1 to 7) FIGS. 1 to 7 show a first embodiment in which claim 1 is embodied.

.. Outline Of these, Figure 1 is a partial schematic perspective view of an automated warehouse,
As shown in this figure, the automated warehouse is equipped with two hangars 2 each consisting of a group of shelves 1 arranged in multiple stages, and the ends of both hangars 2 are conveyor type with the same height as each shelf 1. A reservoir (temporary storage rack for loads) 3 is provided. Further, a lift device 5 having an elevating table 4 is arranged outside the group of reservoirs 3.

An end of the loading / unloading conveyor 6 extends at a portion opposite to the group of the reservoirs 3 with the lift device 5 interposed therebetween. The load W is transferred to the loading / unloading conveyor 6 via the lift device 5.
Is transferred to the reservoir 3 of any stage. Then, for each stage, it is transferred between an arbitrary position on the shelf 1 and the reservoir 3 by a self-propelled carriage described later.

As described above, in the automatic warehouse, only one end side of the hangar 2 serves as a loading / unloading section for loading / unloading the load W.

Either one of the two rows of conveyors 6 may be dedicated to the warehousing and the other may be dedicated to the warehousing, or both of them may be used together for the warehousing and the warehousing. Further, as shown by the one-dot chain line, it is possible to provide the loading / unloading conveyors 6 in multiple stages. Further, it is possible to dispose the loading / unloading conveyor for each shelf without using the lift device 5.

Next, the self-propelled carriage will be described with reference to FIGS. 2 is a plan sectional view of a hangar, FIG. 3 is a partial perspective view of a self-propelled carriage, FIG. 4 is a schematic perspective view showing a driving method, and FIG. 5 is a partial plan view of an end portion of an automatic warehouse near an entrance / exit section. 6 and 6 are side views of the drive mechanism, and FIG. 7 is VII-VII of FIG.
FIG.

.. Drive Mechanism As shown in FIG. 2, the self-propelled carriages 7 are arranged between the adjacent shelves 1. The self-propelled carriage 7 is provided with a machine frame 8 having a quadrangular shape in plan view, and the machine frame 8 is provided with a pair of front and rear wheels 11 traveling on rails 9 and 10. In the case of a large self-propelled cart, three or more pairs of wheels may be provided.

A drive mechanism 1 using a traveling timing belt 12 as an example of a rope is provided near one side of the machine frame 8.
3 is provided. As shown in FIG. 3, the drive mechanism 13 is
A drive pulley 15 and an idle pulley 16 which are rotationally driven by the traveling motor 14 are provided.

The traveling motor 14 is fixed to a main bracket plate 17 which is erected on the machine frame 8 so as to extend along the longitudinal side edge of the machine frame 8 in plan view. The main bracket plate 17 is a reinforcing stay 1 arranged so as to cross the machine frame 8.
It is also fixed to 8.

The idle pulley 16 is pivotally supported by the racket plate 17 on both front and rear sides of the drive pulley 15 and below the drive pulley 15. For example, as shown in FIG. 4, the traveling timing belt 12 is arranged on a step portion 10b formed on one rail 10 with its teeth facing downward.

Further, as shown in FIG. 5, the end portion of the traveling timing belt 12 is fixed to the end portion of the rail 10 by a pressing member 43. The pressing member 43 can be moved and adjusted by an adjuster bolt 44, so that tension can be applied to the traveling timing belt 12. It should be noted that one end of the timing belt 12 for traveling is provided with a housing 2 such as an end strut 30.
You may fix to other members which comprise.

A pair of pressing rollers 19 are rotatably mounted on both sides of the main bracket plate 17 with the drive pulley 15 interposed therebetween, as detachment preventing means for preventing the traveling timing belt 12 from coming off from the drive pulley 15. ing.

Further, the main bracket plate 17 is provided with a cover body 20 shaped to cover the drive pulley 15 from above as another example of a detachment preventing means for preventing the traveling timing belt 12 from coming off the drive pulley 15. Is fixed.

The cover body 20 and the traveling timing belt 1
A slight gap is provided between the cover body 20 and the drive pulley 15 so as to prevent the traveling timing belt 12 and the drive pulley 15 from being disengaged without impairing the movement of the drive pulley 15. Even if the driving timing belt 12 is smoothly driven, the cover body 2
0 is made of a synthetic resin having a small friction coefficient.

Further, as shown in FIG. 7, the cover 20 is
It partially penetrates into the groove of the drive pulley 15. Therefore, even when the self-propelled carriage 7 travels at a high speed, it is possible to reliably prevent the traveling timing belt 12 from coming off the drive pulley 15 or jumping teeth, and as a result, the efficiency of loading and unloading can be improved. You can Reference numeral 21 is an auxiliary bracket plate.

A notch 23 is formed on one side of the main bracket plate 17, and an outward bracket 24 is fixed to the notch 23. Outward bracket 2
First detection pulley 25 rotatably supported by the motor 4 and the traveling motor 1
An endless detection timing belt 27 is wound around the second detection pulley 26 fixed to the main shaft of No. 4.

Further, a rotary encoder 28 for detecting the rotation of the first detection pulley 25 is fixed to the inner surface side of the notch 23 of the main bracket 17.

Both ends of the traveling timing belt 12 are fixed to both ends of the rail 10 (this point will be described later).
Therefore, when the traveling motor 14 is rotated in the normal and reverse directions, the traveling timing belt 12 is pulled up by the drive pulley 15 and the self-propelled carriage 7 can be traveling in either the front or rear direction, and The traveling position is detected by the rotary encoder 28.

Since the traveling timing belt 12 does not come off from the drive pulley 15 or the teeth jump, it is possible to accurately detect the traveling position of the self-propelled carriage 7 by the rotary encoder 28.

The rails 9 and 10 have a shape that opens downward, and the outward flange 9 on which the front edge of the shelf board 29 rests.
a and 10a are formed. Then, on one rail 10 located on the drive mechanism 13 side, a step portion 10b on which the traveling timing belt 12 is mounted is formed.

The rails 9 and 10 are divided into a large number of rails, and both ends thereof are fixed to the front support column 30. Further, the rear edge of the shelf board 29 is a rear frame 31 (see FIG. 1).
Supported by.

Reference numeral 32 indicates a control box having built-in control electric / electronic parts. In FIG. 3, a reference numeral 33 next to the control box 32 is a support for mounting a current collector (not shown) for the trolley, and the current collector is provided inside the rail 10 located at the upper stage. Power is supplied from the trolley wire provided.

.. Transfer of Load As shown in FIG. 2, the self-propelled carriage 7 is provided with guide frames 35 and 36 extending in a direction orthogonal to the traveling direction, and a portion sandwiched between these guide frames 35 and 36 is disposed. It is a loading section.

As shown in FIG. 3, one guide frame 35 is fixed to the machine frame 8 by a vertically long bracket 37, and the other guide frame 36 is not shown so as to move far and near to the one guide frame 35. It is attached to the machine frame 8 via a guide mechanism. A motor 38 for moving the other guide frame 36 is fixed to the machine frame 8.

A thin support plate 39 is fixed to both guide frames 35 and 36, and both support plates 39 are always in a state of overlapping even if the distance between the guide frames 35 and 36 changes widely. .

Further, both guide frames 35 and 36 are provided with
An intermediate arm 40 is mounted so as to move forward and backward toward the shelf 1, and a tip arm 41 is attached to the intermediate arm 40 so as to move forward and backward. Pickers 42 are horizontally swingably attached to both ends of the tip arm 41. The arms 40 and 41 are one transfer motor 4
3 in synchronism.

The picker 42 can be transferred between the shelf 1 and the self-propelled carriage 7 by advancing and retracting the arms 40 and 41 against the front surface or the rear surface of the load W. In addition,
It goes without saying that the mechanism for transferring the load W may have another structure.

When the guide body 20 and the pressing roller 19 are used together as in the present embodiment, the traveling timing belt 1
Since No. 2 is regulated from above and from the side, there is an advantage that the running timing belt 12 can be more reliably prevented from coming off and tooth jumping.

As shown by the alternate long and short dash line in FIG. 6, in order to keep the running timing belt 12 wound around the idle pulley 16, lower guide means such as a lower pressing roller 16 'may be provided.

(2). Second Embodiment (FIGS. 8 to 9) FIGS. 8 to 9 show a second automatic warehouse corresponding to claim 2. 8A is a vertical sectional side view of the slack absorbing means 46, FIG. 8B is a sectional view taken along line BB of FIG. 8A, and FIG.
FIG. 9 is a rear view taken along line IX-IX of FIG. In the present embodiment, the slack absorbing means 46 is provided at both ends of the rail 10, but since both have the same structure, only one will be described.

.. The structural slack absorbing means 46 is a case 47 fixed inside the end strut 30 to which the end of one rail 10 is fixed.
The case 47 has a hole 4 of the end support 30.
Timing belt 1 for running pulled out from 8
The first pulley 49 has two ends wound around from above, and the second pulley 50 located below the first pulley 49.

The second pulley 50 is arranged near the bottom surface of the case 47, and the first pulley 49 is arranged near the opening portion of the case 47. Therefore, the end portion of the traveling timing belt 12 is placed on both sides. Slope 1 between the pulleys 49, 50
It is 2a.

A pressing member 51 for fixing the end of the traveling timing belt 12 is arranged on the inner surface of the case 47 below the second pulley 50. The pressing member 51 is fixed to the case 47 with a screw 52. In this case, the hole through which the screw 52 penetrates is a vertically long slot, and the pressing member 51 is pulled downward with an adjuster bolt 53. .

In this embodiment, the first pulley 49 and the second pulley 50 jointly form a stopper means.

An upper part of a vertically long arm 55 is rotatably mounted on a mounting shaft 54 of the first pulley 49. The lower part of the arm 55 is attached to the inclined part 12a of the traveling timing belt 12 from the outside. A contact roller 56 is provided. Therefore, when the arm 55 is rotated, the inclined portion 12a of the traveling timing belt 12 is pressed, and the traveling timing belt 12 can be stretched in a state with no or almost no slack.

A pin 57 is provided on a portion of the upper end of the arm 55 outside the rotation axis, and the pin 57 and
An eyebolt 58 provided at the bottom of the case 47 and a tension spring 59 are mounted on the eyebolt 58. Therefore, the arm 59
Is urged by a tension spring 59 to rotate in a direction of pressing the inclined portion 12a of the traveling timing belt 12.

The arm 55 is set so that its lower end is brought into contact with the case 47 so that its rotational position is restricted.

.. Action In the second embodiment, the traveling timing belt 12 is held in a slack state by the pair of slack absorbing means 46.

When the self-propelled carriage 7 is run in the direction of the white arrow in FIG. 8, tension is applied to the running timing belt 12 in the direction of the black arrow (in particular, a large tension acts during acceleration). In this case, the traveling timing belt 12 is not pulled in the direction of the black arrow and does not move in the longitudinal direction thereof, so that the self-propelled carriage 7 can travel accurately.

On the contrary, the spring force of the tension spring 59 is not so strong that the traveling timing belt 12 hardly shifts when the self-propelled vehicle 7 is accelerated (in other words, the traveling timing belt 12 is loosened). It is set so that the inclined portion 12a can be deformed to such an extent that the above can be removed.

Further, since the traveling timing belt 12 is pulled in the black arrow direction by the pressing action of the arm 55 of the slack absorbing means 46 on the opposite side, the cover body 20 as in the first embodiment is not provided. However, the traveling timing belt 12 does not come off from the drive pulley 15 or the idle pulley 16 or the teeth do not fly.

Self-propelled carriage 7 traveling in the direction of the white arrow
When the speed is reduced, the tension in the direction of the black arrow acts on the traveling timing belt 12 (that is, the tension is applied to the rear side in the traveling direction), but in this case, the other slack absorbing means 46 causes the traveling timing. Since the belt 12 does not shift in the direction of the white arrow, it can be run accurately.

When the self-propelled carriage 7 running in the direction of the white arrow decelerates, the running timing belt 1
In the case of No. 2, slack occurs in the portion in front of the drive pulley 15 in the traveling direction, but in this case, the slack is absorbed by the pressing action of the arm 55 of the one slack absorbing means 46. , The traveling timing belt 12 bounces and hits the machine frame 8 of the self-propelled carriage 7, etc., or the pulleys 15 and 1
It can be prevented from coming off from 6.

As described above, by mounting both ends of the traveling timing belt to the slack absorbing means 46, it is possible to prevent the traveling timing belt 12 from jumping excessively during acceleration / deceleration in any direction. As a result, the self-propelled carriage 7 can be accurately driven at high speed or accurately stopped.

By the way, when tension is applied to the traveling timing belt 12 by the slack absorbing means, the tension acts as a load on the traveling timing belt 12. Therefore, if excessively strong tension is applied, the traveling timing is The durability of the belt 12 will be reduced.

On the other hand, if a tension is applied to the traveling timing belt 12 without slack as in the present embodiment, an unnecessary load is applied to the traveling timing belt 12. Therefore, the durability of the traveling timing belt 12 can be improved.

.. Variations By the way, the traveling timing belt 12 may be broken, and in this case, the traveling motor 14 needs to be emergency stopped.

Therefore, normally, the arm 55 is set so as to deform the inclined portion 12a of the traveling timing belt 12 within a slight range, and the traveling timing belt 12 is
If the arm 55 breaks and the arm 55 rotates excessively, the rotation is detected by a sensor (limit switch) provided on the case 47.
It may be configured to detect at 60. The sensor 60 may be provided on the arm 55.

By appropriately setting the length of the arm 55 and the strength of the spring 59, the timing belt 12 for traveling
The pulling force on the can be adjusted. The spring means is not limited to the coil spring, but a leaf spring or the like can be used.

The running timing belt 12 extends a little while it is being used, and when it extends beyond a certain amount, it is necessary to operate the adjuster bolt 53 to readjust it.

Therefore, for example, while marking or engraving the scale on the side surface of the arm 55, the case 47 is provided with the indicator needle located at the position of the scale, and the arm 5
5 is rotated more than a predetermined angle, the traveling timing belt 12 is readjusted as if it is too loose.
It can also be used as the excessive slack detecting means 2. It is also possible to automatically detect excessive slack by providing a sensor means such as a limit switch for detecting the rotation angle of the arm 55.

Further, the slack absorbing means does not necessarily have to be provided on the support pillar or the like, but can be provided on both sides or one side of the self-propelled carriage (transfer device) sandwiching the drive pulley and the idle pulley.

(3). Other Embodiments FIG. 10 shows a third embodiment which is another example of claim 1. In this embodiment, the distance between the drive pulley 15 and the idle pulley 16 is widened to loosen the inclination angle of the traveling timing belt 12, and the inclined portion is sandwiched by the upper and lower guide bodies 20 and 61.

In this example, the traveling timing belt 12
Since the curvature of the curve becomes smaller, the load on the traveling timing belt 12 can be reduced, and further, the traveling timing belt 12 can be prevented from being greatly jumped, so that the traveling can be performed at high speed.

The fourth embodiment shown in FIG. 11 is another example of claim 2. In this example, a block 62 is fixed to the end of the traveling timing belt 12, the block 62 is arranged between the inner and outer stoppers 63 and 64, and the block 62 is pulled outward by a spring 65.

Also in this example, since the block 62 hits the inner stopper 63 before the spring 65 is greatly extended,
It is possible to prevent the traveling timing belt 12 from moving largely displaced.

(4). Others The present invention can be embodied in various ways other than the above embodiment. For example, the cord is not limited to the timing belt, but a wire or the like can be used.

When a timing belt is used,
The relationship with the pulley is not limited to the combination as in the embodiment. For example, the timing belt may be arranged on the rail with the teeth facing upward, and the drive pulley may be meshed with the timing belt.

In the case of claim 1, instead of providing the guide body, a large number of rollers may be provided at short intervals so as to surround the drive pulley. In addition, claim 1 and claim 2
It is even more preferable to have a structure in which and are combined.

[Brief description of drawings]

FIG. 1 is a schematic perspective view of an automated warehouse according to a first embodiment.

FIG. 2 is a partial plan sectional view of an automated warehouse.

FIG. 3 is a perspective view of a main part.

FIG. 4 is a schematic perspective view showing a driving method.

FIG. 5 is a partial plan view of an end of an automated warehouse.

FIG. 6 is a side view of a drive mechanism.

7 is a sectional view taken along line VII-VII of FIG.

8A and 8B are views showing a second embodiment, FIG. 8A is a vertical side view of the slack absorbing means, and FIG. 8B is a sectional view taken along line BB of FIG. 8A.

9 is a rear view taken along the line IX-IX in FIG.

FIG. 10 is a diagram showing a third embodiment.

FIG. 11 is a diagram showing a fourth embodiment.

[Simple explanation of symbols]

1 shelf 2 hangar 7 self-propelled cart 8 machine frames 9,10 rails 10b step 12 Timing belt for running as an example of rope 12c extra length 13 Drive mechanism 14 Traveling motor 15 Drive pulley 16 idle pulley 19 Pressing roller 20 Guide body

Claims (3)

[Claims] 1. A hangar for storing a load, a horizontally movable transfer device for loading and unloading the load into and from the hangar, and a long extension along a traveling direction of the transfer device for driving the transfer device. A drive pulley around which the rope is wound around the transfer device, and the rope has a U-shaped posture in a side view at the location of the drive pulley. Thus, the automatic warehouse is provided with idle pulleys arranged on both sides of the drive pulley, and withdrawal preventing means for holding the cord so as not to come off the drive pulley. 2. A hangar for accommodating a load, a transfer device for horizontally moving the load in and out of the hangar, and a timing for extending the transfer device for a long time along the traveling direction for driving the transfer device. It has a cord such as a belt, the transfer device is provided with a drive pulley with which the cord engages, and a slack absorbing means for elastically biasing the cord in at least one direction, The slack absorbing means includes spring means for urging the cord so as to tension it so that there is almost no slack, and stopper means for holding the cord so as not to move much in the direction opposite to the pulling direction of the spring means. Equipped with an automated warehouse. 3. The transfer device is a self-propelled carriage that travels on a pair of rails, while the rope is a timing belt and is placed on one of the rails with its teeth facing downward. The automated warehouse according to claim 1 or claim 2.